I think its done

ConsoleApp/PathPlanners/ReactivePathPlanner.cs

@@ -7,12 +7,17 @@ namespace ConsoleApp.PathPlanners
     public class ReactivePathPlanner : IReactivePathPlanner
     {
         private Queue<Coordinate2D> _reactiveHexPath;
+        private Queue<ICell> _reactiveSquarePath;
         public Queue<Coordinate2D> ReactiveHexPath => _reactiveHexPath;
+        public Queue<ICell> ReactiveSquarePath => _reactiveSquarePath;
+
         
 
         public ReactivePathPlanner()
         {
             _reactiveHexPath = new Queue<Coordinate2D>();
+            _reactiveSquarePath = new Queue<ICell>();
+
         }
         public void GenerateReactiveHexPath(IHexMap hexMap, Queue<Coordinate2D> optimalPath,
             Coordinate2D vehicleCurrentHexCell)
@@ -39,6 +44,33 @@ namespace ConsoleApp.PathPlanners
                 _reactiveHexPath.Enqueue(node);
             }
         }
-       
+
+
+        public void GenerateReactiveSquarePath(ISquareMap squareMap, Queue<ICell> optimalPath,
+            ICell vehicleCurrentSquareCell)
+        {
+            //Clean out old path
+            _reactiveSquarePath.Clear();
+            
+            //If the optimal path is empty well we are done, otherwise pop 1
+            if (!optimalPath.TryDequeue(out ICell convergentPoint))
+                return;
+
+            //Dequeue until the cell is not blocked
+            while (squareMap.GetCell(convergentPoint.X, convergentPoint.Y).Blocked)
+            {
+                //if optimal path is empty were done and we can not clear around this position, otherwise
+                //lest pop another.
+                if (!optimalPath.TryDequeue(out convergentPoint))
+                    return;
+            }
+
+            var map = (SquareMap)squareMap;
+            var reactivePath = map.GetShortestPath(vehicleCurrentSquareCell, convergentPoint);
+            foreach (var node in reactivePath)
+            {
+                _reactiveSquarePath.Enqueue(node);
+            }
+        }
     }
 }